This paper deals with a new kind of mechanical structure for robotic arm based on elements made of thin, inflatable shells. This approach offers the advantage of increasing the strength-to-weight ratio of the robot. Moreover, it allows compact packaging and ease of robot deployment, critical in hard-to-reach spaces, where volume and weight are of utmost importance. In addition, the robot is safer due to less damage in case of collision. At this work we test the feasibility of using that new kind of mechanical structure to an practical implementation, by simulation and by operative experiment.